Research Papers

Adaptive Control With Internal Model for High-Performance Precision Motion Control and Its Application to a Fast-Acting Piezoelectric Actuator

[+] Author and Article Information
Chi-Ying Lin

Associate Professor
Department of Mechanical Engineering,
National Taiwan University of Science and Technology,
Taipei 106, Taiwan
e-mail: chiying@mail.ntust.edu.tw

Tsu-Chin Tsao

Department of Mechanical and
Aerospace Engineering,
University of California,
Los Angeles, CA 90095
e-mail: ttsao@seas.ucla.edu

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 5, 2012; final manuscript received June 24, 2013; published online August 23, 2013. Assoc. Editor: Qingze Zou.

J. Dyn. Sys., Meas., Control 135(6), 061012 (Aug 23, 2013) (11 pages) Paper No: DS-12-1291; doi: 10.1115/1.4024901 History: Received September 05, 2012; Revised June 24, 2013

This paper proposes an adaptive control scheme that minimizes the least-mean-square (LMS) value of the plant output while meeting the constraints of canceling deterministic exogenous signals generated by a priori dynamics. This scheme may be applied to a broad range of applications in which the exogenous input signals to the plant contain both deterministic and stochastic components. The adaptive control includes both feedback and previewed feedforward actions. In both actions, the deterministic signal model is included as a constraint of the dynamics from the external input to the plant output by determining solutions for a Bezout identity. The proposed scheme is applied to a fast-acting piezoelectric actuator (PZT) to generate precise dynamic motion profiles. This paper presents the experimental results to demonstrate the effectiveness of the proposed adaptive control scheme.

Copyright © 2013 by ASME
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Fig. 1

Stable plant inversion for a feedforward control problem

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Fig. 2

Adaptive control including a feedback controller C1 and feedforward controller C2 (scheme A)

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Fig. 3

Detailed block diagram of the adaptive control (scheme A)

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Fig. 4

Inserting internal model into adaptive control

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Fig. 5

Proposed adaptive control block diagram for improved tracking performance (scheme B)

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Fig. 6

A fast-acting piezoelectric actuator system: hardware

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Fig. 7

A fast-acting piezoelectric actuator system: cross-section plot

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Fig. 8

Closed-loop plant G with a robust feedback controller K and an open-loop plant P

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Fig. 9

Frequency response plots of the fast-acting piezoelectric actuator system model: open-loop model P

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Fig. 10

A complex reference profile for tracking control

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Fig. 11

Stability plot of internal model control design

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Fig. 12

Estimated sensitivity plot (1-CiG∧), i = 1,2

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Fig. 13

Simulation result for adaptive control without an internal model: preview length versus tracking error

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Fig. 14

Simulation result for adaptive control with an internal model: preview length versus tracking error

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Fig. 15

Scheme B simulation result for LMS parameters in C2: step size and tap length versus tracking error

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Fig. 16

Tracking error for schemes B2-B4: adaptive control without I.M. (L = 0 and L = 16) and I.M. control (L = 16)

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Fig. 17

Tracking error for schemes A1 and B1: adaptive control with I.M., L = 16




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